ros2 topic pub --once /joint_trajectory/joint_trajectory trajectory_msgs/msg/JointTrajectory "{header: {stamp: {sec: 0}, frame_id: 'frame'}, joint_names: ['joint_1', 'joint_2'], points: [{positions: [0.1, 0.2], velocities: [0.1, 0.2], accelerations: [0.1, 0.2], time_from_start: {sec: 1}}]}"
